Foldable three-rotor spherical unmanned amphibious mobile aircraft

Abstract

The application provides a foldable three-rotor spherical unmanned amphibious mobile aircraft, and belongs to the technical field of special unmanned aircraft design and manufacturing. The aircraft body A is used as the main part of the aircraft, three windows are formed on the outer side of the aircraft body A, the windows are uniformly arranged around the circumference, each window is provided with a folding wing B and a mobile chassis C, the folding wing B is located on the upper part of the front side space of the window of the aircraft body A, the mobile chassis C is located on the lower part of the front side space of the window of the aircraft body A, and the central axis surface of the folding wing B is coincident with the central axis surface of the mobile chassis C. The application provides a foldable three-rotor spherical unmanned amphibious mobile aircraft, which can more reliably realize wing folding of the rotor aircraft, and has the characteristics of amphibiousness and autonomous obstacle avoidance.

Description

Technical Field

[0001] This invention belongs to the field of design and manufacturing technology of multi-rotor special unmanned aerial vehicles, specifically relating to a foldable tri-rotor spherical unmanned amphibious mobile aircraft. Background Technology

[0002] Rotary-wing unmanned aerial vehicles (UAVs) have become increasingly popular in recent years. By equipping them with various sensors, they can achieve autonomous flight and perform specific functions in particular scenarios. Due to their flexible operation, small size, high stability, and low cost, they are widely used in various industries, such as high-voltage power line inspection, landslide prevention, geographic surveying, and aerial photography.

[0003] Most multi-rotor unmanned aerial vehicles (UAVs) designed currently have their wings fixed around the fuselage. The wings cannot be folded to reduce the space occupied by the aircraft. At the same time, they require a large operating space during transportation or deployment, and the wings are easily damaged during deployment, making them unable to fly. Rotary aircraft with foldable wings can ensure the safe and effective use of the aircraft. Currently, most foldable wings use a top and bottom flap opening and closing mechanism. The top and bottom flap opening and closing mechanism requires the joint at the opening and closing point to bear the weight of the entire wing.

[0004] Since most rotorcraft need to work in unknown and unfamiliar environments, they are required to be able to traverse a variety of complex terrains and to avoid obstacles during flight without the operator's knowledge. Aircraft that are adapted to amphibious working environments and can perform obstacle avoidance operations on their own can greatly expand the application scenarios of aircraft and ensure their own safety. Summary of the Invention

[0005] To address the underlying technical problems of insufficient structural safety performance, lack of adaptability to complex terrain, and poor autonomous obstacle avoidance capabilities of rotorcraft, this invention proposes a foldable three-rotor spherical unmanned amphibious mobile aircraft that can more reliably achieve rotorcraft wing folding while also possessing amphibious and autonomous obstacle avoidance capabilities.

[0006] This invention is achieved through the following technical solution:

[0007] A foldable tri-rotor spherical unmanned amphibious mobile aircraft includes a flight wing A, three folding arms B, and a hollow spherical outer shell C. When retracted, the flight wing A is located within the three flight wing windows of the outer shell C. The outer surface of the flight wing A forms a spherical surface with the outer shell C, while the inner surface of the flight wing A has a duct 2 for mounting the flight rotor 1. The flight rotor 1 is mounted on the inner ring surface of the duct 2 via a rotor fixing plate 6. An inflatable tire 6 is mounted on the outer ring surface of the duct 2, and a wing strut 5 is fixedly connected to the inner surface of the duct 2. The folding arms B include a primary folding arm 13 and a tertiary folding arm 11. The tertiary folding arm 11 and the primary folding arm 13 are relative rotating joints. The three primary folding arms 13 are located on a cross-section passing through the center point of the outer shell C. A traction line 32 connects the midpoint of the tertiary folding arm 11 to any point on the other side. The other end of the traction line 32 is wound around the traction line winding post 15. The other end of the three-stage folding arm 11 is connected to the spherical connecting pair 7 on the flight wing A through the flight wing rotation drive structure. The folding arm mounting shaft 16 is fixedly connected to the inner wall of the aircraft shell C. The first-stage folding arm 13 is fixedly connected to the folding arm mounting shaft 16 through the telescopic device 14. The traction line winding post 15 is located on the central axis of the aircraft shell C and is rotatably connected to the folding arm mounting shaft 16. The rotation of the traction line winding post 15 is driven by the rotary motor 9. The other end of the three-stage folding arm 11 is fixedly connected to the center point of the wing strut 5. The three-stage folding arm 11 is perpendicular to the inner side of the wing duct 2. The housing of the rotary motor 9 is connected to the connecting pair 24 inside the aircraft shell C through the connector 8. The folding arm mounting shaft 16, the folding arm mounting shaft 16 and the connecting pair 24 are located on the same central axis of the aircraft shell C.

[0008] As a preferred technical solution of the present invention, the folding arm B further includes a secondary folding arm 12, which is connected between the primary folding arm 13 and the tertiary folding arm 11.

[0009] As a preferred technical solution of the present invention, the flight wing rotation drive structure includes an electromagnetic valve 10 and a spherical connecting joint 7. The electromagnetic valve 10 includes four surface electromagnets and a bottom surface electromagnet. When current flows through, the electromagnets work and generate magnetic force on the spherical connecting joint 7. The larger the current, the stronger the magnetic force. The rotation of the flight wing A is controlled by adjusting whether there is current and the intensity of the current in each surface electromagnet. The flight wing A serves as the land-based walking wheel of the aircraft.

[0010] As a preferred technical solution of the present invention, the wing duct 2, the aircraft folding arm B, and the wing strut 5 are all hollow, forming an air supply channel. The folding arm mounting shaft 16 houses an air-generating device, which is connected to the inflatable tire 6 through the air supply channel. 16 is an internally hollow pipe divided into three layers. Each layer houses the traction cable controlling the robotic arm in one direction. Counterclockwise rotation tightens the traction cable, causing the robotic arm to retract into 14; clockwise rotation reverses this.

[0011] As a preferred technical solution of the present invention, a torsion spring is installed at the joint point where the three-stage folding arm 11 and the first-stage folding arm 13 are rotatably connected.

[0012] As a preferred technical solution of the present invention, the telescopic device 14 is a spring and a telescopic housing encased in the spring. The telescopic device 14 is an elastic telescopic spring tube, which can accommodate a robotic arm. When the folding wing is closed, the traction line pulls the robotic arm to retract into the tube, and the spring tube is compressed at the same time. When the folding wing is opened, the traction line expands, the spring tube actively releases forward, and at the same time drives the robotic arm to extend forward.

[0013] As a preferred technical solution of the present invention, a vision module connection window 22 is provided on the outer shell C of the aircraft, and a camera gimbal 26 with a camera 27 is connected to the vision module connection window 22 through a vision module connection shaft 25.

[0014] As a more preferred technical solution of the present invention, there are three vision module connection windows 22, each vision module connection window 22 is arranged between adjacent flight wing windows, located in the middle of the outer space of the aircraft shell C.

[0015] As a preferred technical solution of the present invention, there are three traction line winding posts 15. Each traction line 32 connecting the three-stage folding arm 11 is connected to one traction line winding post 15. Each traction line 32 winding post 15 is connected to a drive motor. The housings of the three drive motors are connected together to the rotating shaft of the rotary motor 9. The rotary motor 9 serves as the primary motor. The traction line winding posts 15 are connected to the housings of three secondary motors 32. The motor shafts 33 of the secondary motors 32 are connected to traction lines. Both the primary motor and the secondary motors 32 are connected to the machine body controller.

[0016] As a more preferred technical solution of the present invention, the bottom of the outer surface of the aircraft shell C is connected to a fixed chassis support plate 31 via a fixed chassis connecting pair 23. A grab hook control motor 29 is connected to the fixed chassis support plate 31, and a fixed chassis grab hook 30 is connected to the grab hook control motor 29.

[0017] As a preferred technical solution of the present invention, the fixed chassis connecting shaft 28 is located in the upper part of the upper space of the fixed chassis and is a cylindrical platform. It is connected to the fixed chassis connecting part 23 of the aircraft shell C and can rotate freely around the fixed chassis connecting part 23. The lower surface of the fixed chassis connecting shaft 28 is connected to the fixed chassis bearing plate 31. The fixed chassis bearing plate 31 is the main body of the entire fixed chassis 3. The upper surface is connected to the fixed chassis connecting shaft 28. Four slots are opened on the side. Each slot is connected to a hook control motor 29. There are four hook control motors 29 in total. Each hook control motor 29 is connected to a slot opened in the side wall of the fixed chassis bearing plate 31. The four hook control motors 29 are arranged circumferentially and are equally spaced from each other. The hook control motor 29 is a cylindrical barrel. The side wall is fixed on the slot of the hook control motor 29 and can rotate freely in the axial direction.

[0018] As a more preferred technical solution of the present invention, the wing duct 2 is a ring component with openings at the top and bottom, which is the main body and outer edge of the entire flight wing A.

[0019] As a more preferred technical solution of the present invention, it also includes a window outer ring 20, which is nested inside the flight wing window and located in the middle of the outer space of the aircraft shell C. It is an annular interlayer. The wing fastening clips 21 are evenly arranged on the circumference formed by the window outer ring 20. Each window outer ring 4 contains five wing fastening clips 21. Each wing fastening clip 21 is a triangular thin plate structure used to clamp the flight wing A.

[0020] As a more preferred technical solution of the present invention, the fixed chassis connecting pair 28 is located at the center of the lower surface of the bottom space of the aircraft shell C, and is a recessed frustum for connecting the fixed chassis bearing plate 31.

[0021] As a more preferred technical solution of the present invention, there are three vision module connection windows 22. Each vision module connection window 22 is located between adjacent flight wing windows and is a recessed truncated cone on one side wall for connecting vision modules.

[0022] As a preferred technical solution of the present invention, the vision module consists of a camera gimbal 26, a camera 27, and a vision module connecting shaft 25. The camera gimbal 26 is the main body of the vision module, which is connected and fixed to the camera 27 at the front and connected to the vision module connecting shaft 25 at the rear. The connection surface is a spherical rotating joint. The camera gimbal 26 can rotate freely around the vision module connecting shaft 25 within a certain angle. The camera 27 is located directly in front of the front space of the camera gimbal 26 and is fixed to the front end of the camera gimbal 26. It can rotate with the camera gimbal 26. The vision module connecting shaft 25 is located directly behind the rear space of the camera gimbal 26. It is connected to the camera gimbal 26 at the front through a spherical rotating joint and connected to the vision module connecting shaft 25 of the aircraft shell C at the rear.

[0023] As a preferred technical solution of the present invention, the flight wing A includes a flight rotor 1, which is located in the inner space of the wing duct 2 and is concentric with the inner ring of the wing duct 2. The flight rotor 1 can be, but is not limited to, a three-bladed flight rotor 1. The rotation center of the blade is connected to the convex end of the support plate of the flight rotor 1. The support plate of the flight rotor 1 is located at the rear end of the lower surface space of the wing duct 2 and is a structure with a convex short shank at the front end. The front end of the support plate of the flight rotor 1 is connected to the lower surface of the rotation center of the flight rotor 1, and the tail end is connected to the rear end of the lower surface of the wing duct.

[0024] The beneficial effects are as follows:

[0025] The foldable tri-rotor spherical unmanned amphibious mobile aircraft provided by this invention has an opening and closing mechanism in which the entire fuselage bears the weight of the wing, which can greatly reduce the load on the wing joints, increase service life and structural stability, and prevent the wing from suddenly closing due to accidental failure of the wing opening and closing joints; at the same time, its opening and closing mechanism can simultaneously enable the wing to act as a moving wheel to travel on the surface of an object. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the aircraft of the present invention when the flight wing is deployed;

[0027] Figure 2 This is a schematic diagram of the structure of the aircraft of the present invention when the flight wing is retracted;

[0028] Figure 3 This is a schematic diagram of the structure of the flight wing (without an inflatable outer tire) of the aircraft of the present invention;

[0029] Figure 4 This is a schematic diagram of the flight wing (without an inflatable outer tire) structure of the aircraft of the present invention;

[0030] Figure 5 This is a schematic diagram of the flight wing (inflatable outer tire) structure of the aircraft of the present invention;

[0031] Figure 6 This is a schematic diagram of the folding wing and its mounting structure of the aircraft of the present invention;

[0032] Figure 7 This is a schematic diagram of the wingless aircraft and its mounting structure of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of the outer shell of the aircraft of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the vision module of the aircraft of the present invention;

[0035] Figure 10This is a schematic diagram of the fixed chassis of the aircraft of the present invention;

[0036] Figure 11 This is a diagram showing the arrangement of the traction wire winding posts in one embodiment of the present invention;

[0037] The components are: A. Flight wing; B. Folding arm; C. Aircraft outer shell; 1. Flight rotor; 2. Wing duct; 3. Inflatable tire; 4. Support strut adapter; 5. Wing strut; 6. Rotor mounting plate; 7. Spherical connector; 8. Folding arm connector; 9. Rotary motor; 10. Solenoid valve; 11. Three-stage folding arm; 12. Two-stage folding arm; 13. One-stage folding arm; 14. Folding arm retraction slot; 15. Traction cable winding post; 16. Folding arm mounting shaft; 17. Outer shell; 18. Flight vision module; 19. Fixed chassis; 20. Window outer ring; 21. Wing fastening clamp; 22. 23. Vision module connector; 24. Fixed chassis connector; 25. Folding arm connector; 26. Vision module connecting shaft; 27. Camera pan-tilt head; 28. Camera; 29. ​​Fixed chassis connecting shaft; 30. Grappling hook control motor; 31. Fixed chassis grab; 32. Fixed chassis bearing plate; 33. Traction line. Detailed Implementation

[0038] The present invention will now be described with reference to the accompanying drawings.

[0039] like Figure 1 and 4As shown in Figure 6, this invention provides a foldable three-rotor spherical unmanned amphibious mobile aircraft, comprising a flight wing A, three folding arms B, and a hollow spherical aircraft shell C. When retracted, the flight wing A is located within the three flight wing windows of the aircraft shell C, and the outer side of the flight wing A forms a spherical surface with the aircraft shell C. The inner side of the flight wing A is a wing duct 2 for mounting the flight rotor 1. The flight rotor 1 is mounted on the inner ring surface of the wing duct 2 via a rotor fixing plate 6. An inflatable outer tire 6 is mounted on the outer ring surface of the wing duct 2, and a wing strut 5 is fixedly connected to the inner side of the wing duct 2. The folding arms B include a primary folding arm 13 and a tertiary folding arm 11. The tertiary folding arm 11 and the primary folding arm 13 are relative rotating joint segments. The three primary folding arms 13 are located on a cross section passing through the center point of the aircraft shell C. A traction line connects the midpoint of the tertiary folding arm 11 to any point between its other end. 32. The other end of the traction line 32 is wound around the traction line winding post 15. The other end of the three-stage folding arm 11 is connected to the spherical connecting pair 7 on the flight wing A through the flight wing rotation drive structure. The folding arm mounting shaft 16 is fixedly connected to the inner wall of the aircraft shell C. The first-stage folding arm 13 is fixedly connected to the folding arm mounting shaft 16 through the telescopic device 14. The traction line winding post 15 is located on the central axis of the aircraft shell C and is rotatably connected to the folding arm mounting shaft 16. The rotation of the traction line winding post 15 is driven by the rotary motor 9. The other end of the three-stage folding arm 11 is fixedly connected to the center point of the wing strut 5. The three-stage folding arm 11 is perpendicular to the inner side of the wing duct 2. The housing of the rotary motor 9 is connected to the connecting pair 24 inside the aircraft shell C through the connector 8. The folding arm mounting shaft 16, the folding arm mounting shaft 16 and the connecting pair 24 are located on the same central axis of the aircraft shell C.

[0040] In some embodiments, the wing rotation drive structure includes an electromagnetic valve and a spherical connector 7. The electromagnetic valve includes four surface electromagnets and a bottom surface electromagnet. When current flows through, the electromagnets operate and generate magnetic force on the spherical connector 7. The greater the current, the stronger the magnetic force. The rotation of the wing A is controlled by adjusting whether there is current and the intensity of the current in each surface electromagnet. The wing A serves as the aircraft's land-based walking wheel.

[0041] In some embodiments, the wing duct 2, the aircraft folding arm B, and the wing strut 5 are all hollow, forming an air supply channel. An air-generating device is built into the folding arm mounting shaft 16, and the air-generating device and the inflatable outer tire 6 are connected through the air supply channel. A rotary drive device is fixedly mounted on the folding arm mounting shaft 16, and the telescopic device 14 is fixed on the rotating shaft of the rotary drive device. The telescopic device 14 drives the first-stage folding arm 13 and the third-stage folding arm 11 to extend out of the aircraft outer shell C, and the traction line 32 is in a slack state. The first-stage folding arm 13 and the third-stage folding arm 11 are in a parallel state. After the air-generating device inflates the inflatable outer tire 6, the rotary drive device drives the lower folding arm to rotate, enabling the aircraft to move on land. The inflated wing A of the inflatable outer tire 6 is as follows: Figure 2 As shown, the aircraft is as follows Figure 5 As shown, the inflatable outer tire is not inflated. Figure 3 As shown. The device can be a gas generator, or it can supply air from the outside into the inflatable tire. It can supply air into the inflatable tire or output air from the inflatable tire to the outside.

[0042] In some embodiments, the folding arm B further includes a secondary folding arm 12, which is connected between the primary folding arm 13 and the tertiary folding arm 11. The secondary folding arm 12, the primary folding arm 13, and the tertiary folding arm 11 have protrusions with limiting channels, and the traction line 32 passes through the limiting channels.

[0043] In some embodiments, a torsion spring is installed at the joint where the three-stage folding arm 11 and the first-stage folding arm 13 are rotatably connected.

[0044] In some embodiments, the telescopic device 14 is a spring and a telescopic housing encased in the spring. The telescopic device 14 is an elastic, telescopic spring tube that can accommodate a robotic arm. When the folding wing is closed, the traction line pulls the robotic arm to retract into the tube, while the spring tube is compressed. When the folding wing is opened, the traction line expands, the spring tube actively releases forward, and the robotic arm extends forward.

[0045] In some embodiments, such as Figure 11 As shown, there are three traction line winding posts 15. Each traction line 32 connecting the three-stage folding arm 11 is connected to one traction line winding post 15. Each traction line 32 wound around the 15 is connected to a drive motor. The housings of the three drive motors are connected to the rotation shaft of the rotary motor 9. This ensures that the opening angle of each flight wing can be controlled independently, adapting to situations where the three folding wings need to be on different planes, such as during turning flight. Figure 11As shown, the rotary motor 9 serves as the primary motor, and the traction wire winding column 15 connects to the housing of three secondary motors 32. The motor shaft 33 of the secondary motors 32 is connected to the traction wire. Both the primary motor and the secondary motors 32 are connected to the fuselage controller, enabling individual control of the three wings. This is beneficial for controlling the inconsistent wing heights during turning flight.

[0046] In some embodiments, the wing duct 2 is a ring-shaped component with openings at the top and bottom, which is the main body and outer edge of the entire flight wing A.

[0047] In some embodiments, a window outer ring 20 is also included. The window outer ring 20 is nested inside the flight wing window and located in the middle of the outer space of the aircraft shell C. It is an annular interlayer. The wing fastening clips 21 are evenly arranged on the circumference formed by the window outer ring 20. Each window outer ring 4 contains five wing fastening clips 21. Each wing fastening clip 21 is a triangular thin plate structure used to clamp the flight wing A.

[0048] In some embodiments, the flight wing A includes a flight rotor 1, which is located in the inner space of the wing duct 2 and is concentric with the inner ring of the wing duct 2. The flight rotor 1 can be, but is not limited to, a three-bladed flight rotor 1. The flight rotor 1 can rotate and operate within the wing duct 18, serving as the power source for the entire aircraft to perform flight motion. The rotation center of the rotor blade is connected to the convex round end of the flight rotor 1 receiving plate. The flight rotor 1 receiving plate is located at the rear end of the space on the lower surface of the wing duct 2 and is a structure with a convex round short shank at the front end. The front end of the flight rotor 1 receiving plate is connected to the lower surface of the rotation center of the flight rotor 1, and the tail end is connected to the rear end of the lower surface of the wing duct.

[0049] In some embodiments, there are three vision module connection windows 22. Each vision module connection window 22 is arranged between adjacent flight wing windows and located in the middle of the outer space of the aircraft shell C. The vision module connection shaft 25 is a recessed frustum on one side wall, used to connect the vision module.

[0050] In some embodiments, a vision module connection window 22 is provided on the outer shell C of the aircraft. A camera gimbal 26 with a camera 27 is connected to the vision module connection window 22 via a vision module connection shaft 25. The camera gimbal 26 is the main body of the vision module. It is fixed to the camera 27 at the front and connected to the vision module connection shaft 25 at the rear. The connection surface is a spherical rotating joint. The camera gimbal 26 can rotate freely around the vision module connection shaft 25 within a certain angle. The camera 27 is located directly in front of the front space of the camera gimbal 26 and is fixed to the front end of the camera gimbal 26. It can rotate with the camera gimbal 26. The vision module connection shaft 25 is located directly behind the rear space of the camera gimbal 26. It is connected to the camera gimbal 26 at the front via a spherical rotating joint and connected to the vision module connection shaft 25 of the outer shell C of the aircraft at the rear.

[0051] The three vision modules 18 described in this invention are independent of each other. The captured image information is transmitted back to the aircraft control center, and the environmental information within a 360° range around the aircraft can be captured.

[0052] like Figures 7 to 9 As shown, the aircraft outer shell C, serving as the main body of the entire aircraft, is spherical. The vision module 18 and the fixed chassis are both located on the aircraft outer shell C structure. The vision module 18 is fixedly connected to the vision module connection joint 22 via a vision module connecting shaft 25, and the fixed chassis is fixedly connected to the fixed chassis connection joint 23 via a fixed chassis connecting shaft 28. There are three vision modules 18, each arranged between the wing windows, located in the middle of the outer space of the aircraft outer shell C. During flight or ground movement, the vision modules 18 can capture image information in the corresponding direction ahead and transmit it to the aircraft control center for processing.

[0053] In some embodiments, the bottom of the outer surface of the aircraft shell C is connected to a fixed chassis support plate 31 via a fixed chassis connection pair 23. A hook control motor 29 is connected to the fixed chassis support plate 31, and a fixed chassis hook 30 is connected to the hook control motor 29.

[0054] In some embodiments, the fixed chassis connecting pair 28 is located at the center of the lower surface of the bottom space of the aircraft shell C, and is a recessed frustum for connecting the fixed chassis support plate 31.

[0055] In some embodiments, the fixed chassis connecting shaft 28 is located in the upper part of the upper space of the fixed chassis and is a cylindrical platform. It is connected to the fixed chassis connecting part 23 of the aircraft shell C and can rotate freely around the fixed chassis connecting part 23. The lower surface of the fixed chassis connecting shaft 28 is connected to the fixed chassis bearing plate 31. The fixed chassis bearing plate 31 is the main body of the entire fixed chassis 3. Its upper surface is connected to the fixed chassis connecting shaft 28. It has four slots on its side, and each slot is connected to a hook control motor 29. There are four hook control motors 29 in total. Each hook control motor 29 is connected to a slot on the side wall of the fixed chassis bearing plate 31. The four hook control motors 29 are arranged circumferentially and are equally spaced from each other. The hook control motor 29 is a cylindrical barrel and its side wall is fixed to the slot of the hook control motor 29. It can rotate freely axially.

[0056] like Figure 10 As shown, when the aircraft is moving on the ground, the fixed chassis rotates freely within the fixed chassis connecting joint 23 to the side with the least resistance. When the fixed chassis moves forward or backward, the four grab hook control motors 29 rotate at the same speed and in either forward or reverse direction. When the fixed chassis turns left or right, the grab hook control motor 29 facing the direction remains stationary, while the other three grab hook control motors 29 rotate differentially in either forward or reverse direction. When the aircraft is moving on the ground, the fixed chassis is in contact with the ground and acts as a driven wheel, with the entire aircraft driving the fixed chassis. The fixed chassis supports and maintains the stable movement of the entire aircraft. The fixed chassis is located at the center of the bottom space of the aircraft's outer shell C. When the aircraft is stationary or moving on the ground, the fixed chassis supports the entire aircraft and can perform planar motion in any direction.

[0057] The working process of the foldable tri-rotor spherical unmanned amphibious mobile aircraft provided by this invention is as follows:

[0058] When wing A is closed, the wing duct 18 coincides with the outer ring of the window 4, and its lower surface engages and is fixed with the wing fastening clamp 5. The outer surface of the wing duct 18 coincides with the outer surface of the aircraft shell C to form a spherical surface. When wing A is deployed, it disengages from the outer ring of the window 4 and remains perpendicular to the plane containing the outer ring of the window 4. When the rotor 1 is rotating, the wing duct 18 can provide additional lift for the aircraft. When wing A is in the closed state, the wing fixing clamp 21 forms a complete spherical structure between wing A and the side wall of the aircraft shell C.

[0059] When the flight wing A unfolds, the wing clamp 21 loosens, and the telescopic device 14 pushes the first-stage folding arm 13 out of the aircraft's outer shell C. For ground movement, the rotary motor operates, slacks the traction cable 32, aligns the first-stage and third-stage folding arms in a straight line, and the air-generating device operates, inflating the tires. The rotary drive operates, and the flight wing A rolls the aircraft forward. In flight mode, the rotary motor operates, tightening the traction cable 32, making the first-stage and second-stage folding arms perpendicular, and the flight rotor 1 rotates, providing the power source for the entire aircraft's flight motion. The aircraft has two operating states: when in flight, the flight wing A extends from the side of the aircraft's body A, all three flight rotors 1 are in a horizontal position, and the rotor blades of flight rotor 1 rotate to generate lift, allowing the aircraft to take off; when not in flight, the flight wing A closes and retracts back to the side of the aircraft's body A.

[0060] If the same design concept is used but the dimensions and appearance of the auxiliary installation structure or the fixing method are different, it is also within the scope of protection of this invention.

[0061] In the description of this invention, it should be understood that the terms "center", "longitudinal", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A foldable tri-rotor spherical unmanned amphibious mobile aircraft, characterized in that: The aircraft comprises a flight wing, three folding arms, and a hollow spherical outer shell. When retracted, the flight wing is located within the three wing windows of the outer shell, with the outer surface of the wing forming a spherical shape with the outer shell, and the inner surface of the wing containing the rotor. The rotor is mounted on the inner ring of the wing duct via a rotor mounting plate. An inflatable tire is mounted on the outer ring of the wing duct, and a wing strut is fixedly connected to the inner side of the wing duct. The folding arms consist of a primary folding arm and a tertiary folding arm, with the tertiary and primary folding arms forming relative rotational joints. The three primary folding arms are located on a cross-section passing through the center point of the outer shell. A traction line is connected to the midpoint of the first-stage folding arm at any point between the midpoint and the other end. The other end of the traction line is wound around a traction line winding post. The other end of the third-stage folding arm is connected to a spherical connecting pair on the flight wing via a flight wing rotation drive structure. A folding arm mounting shaft is fixedly connected to the inner wall of the aircraft shell. The first-stage folding arm is fixedly connected to the folding arm mounting shaft via a telescopic device. The traction line winding post is located on the central axis of the aircraft shell and is rotatably connected to the folding arm mounting shaft. The rotation of the traction line winding post is driven by a rotary motor. The other end of the third-stage folding arm is fixedly connected to the center point of the wing strut. The third-stage folding arm is perpendicular to the inner side of the wing duct. The rotary motor housing is connected to the connecting joint inside the aircraft shell via a connector; the folding arm mounting shaft, the folding arm mounting shaft and the connecting joint are located on the same central axis of the aircraft shell; the wing duct, the aircraft folding arm and the wing strut are all hollow, forming an air supply channel; the folding arm mounting shaft has an internal air generation device, and the air generation device and the inflatable tire are connected through the air supply channel. The bottom of the outer surface of the aircraft shell is connected to a fixed chassis support plate via a fixed chassis connecting pair. A grab hook control motor is connected to the fixed chassis support plate, and a fixed chassis grab hook is connected to the grab hook control motor.

2. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: The folding arm also includes a secondary folding arm, which is connected between the primary folding arm and the tertiary folding arm.

3. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: The aforementioned wing rotation drive structure includes a solenoid valve and a spherical connecting pair. The solenoid valve includes four-face electromagnets and a bottom electromagnet.

4. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: The telescopic device consists of a spring and a telescopic housing surrounding the spring.

5. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: The aircraft's outer shell has a vision module connection window, and a camera gimbal with a camera is connected to the vision module connection window through a vision module connection shaft.

6. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: It also includes a fixed chassis connecting shaft located in the upper part of the space above the fixed chassis. It is a cylindrical platform connected to the fixed chassis connecting pair of the aircraft shell. It can rotate freely around the axis of the fixed chassis connecting pair. The lower surface of the fixed chassis connecting shaft is connected to the fixed chassis bearing plate. The fixed chassis bearing plate is the main part of the entire fixed chassis. Its upper surface is connected to the fixed chassis connecting shaft. There are four slots on the side. Each slot is connected to a hook control motor. There are a total of four hook control motors. Each hook control motor is connected to a slot opened in the side wall of the fixed chassis bearing plate. The four hook control motors are arranged circumferentially and are equally spaced from each other. The hook control motor is a cylindrical barrel with its side wall fixed to the hook control motor slot.

7. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: It also includes an outer window ring, which is nested inside the flight wing window and located in the middle of the outer space of the aircraft shell. It is a ring-shaped interlayer. The wing fasteners are evenly arranged on the circumference formed by the outer window ring. Each outer window ring contains five wing fasteners, and each wing fastener is a triangular thin plate structure.

8. The foldable tri-rotor spherical unmanned amphibious mobile aircraft as described in claim 1, characterized in that: The aforementioned flight wing includes a flight rotor, which is located in the space inside the duct of the wing and is concentric with the inner ring of the duct. The flight rotor is a three-bladed flight rotor, with the rotation center of the blades connected to the convex end of the flight rotor support plate. The flight rotor support plate is located at the rear end of the space below the duct of the wing and is a structure with a convex short shank at the front end. The front end of the flight rotor support plate is connected to the lower surface of the rotation center of the flight rotor, and the tail end is connected to the rear end of the lower surface of the duct of the wing.

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